JP7200623B2 - Vehicle guidance systems, on-board equipment, and ground equipment - Google Patents

Description

The present disclosure relates to vehicle guidance systems, on-board equipment, and ground equipment.

2. Description of the Related Art Conventionally, there has been known a technique of obtaining an image of a situation around a vehicle using an in-vehicle camera and providing information for guiding the vehicle to a predetermined area based on the obtained image.

JP 2010-188744 A

However, in general, the reliability of information contained in an image varies depending on the brightness of the environment in which the image was captured. When the vehicle is guided by the , there is a risk that the accuracy of the vehicle guidance may vary depending on the environment.

Accordingly, one of the objects of the present disclosure is to provide a vehicle guidance system, an on-board device, and a ground device that can accurately guide a vehicle without being influenced by the environment.

A vehicle guidance system as an example of the present disclosure includes an on-board device provided in a vehicle and a ground device provided on the ground, and the on-board device is provided in a predetermined area provided on the ground. A guidance control unit that executes guidance control to guide the vehicle so that the vehicle enters from the entrance, and when the guidance control is executed by the guidance control unit, an on-board transmitter provided in the vehicle is used to direct the vehicle to the outside of the vehicle. A transmission control unit that executes transmission control for transmitting the first wave by means of a transmission control unit, and a reception control that executes reception control for receiving a second wave corresponding to the first wave by an on-board wave receiver provided in the vehicle. a plurality of ground receivers for receiving the first wave, provided at least one each at a first position and a second position corresponding to both ends in the width direction of the entrance. and the approach direction of the vehicle to at least a predetermined area provided corresponding to each of the plurality of ground wave receivers, in response to reception of the first wave by at least one of the plurality of ground wave receivers. and a plurality of first terrestrial transmitters that transmit second waves in opposite directions, and the guidance control unit controls the reception control of the reception control unit to determine the signal level of the second waves received. , determines the line of entry to the entrance based on the variation according to the position of the vehicle.

According to the configuration described above, it is possible to cope with both ends of the entrance in the width direction by using the results of transmission and reception of the first wave and the second wave without using an image, for example, which is easily affected by the environment. Positions can be detected and appropriate lines of entry determined. Therefore, the vehicle can be accurately guided to the predetermined area regardless of the environment.

In the vehicle guidance system described above, the plurality of first terrestrial transmitters transmit the second wave so that the signal level peaks in the direction opposite to the direction in which the vehicle enters the predetermined area, and the guidance control unit determines the approach line to the entrance based on the position of the vehicle near the timing at which the signal level of the second wave received in the reception control by the reception control unit reaches its peak. According to such a configuration, by detecting the peak of the reception level of the second wave, it is possible to easily detect the positions corresponding to both ends of the entrance in the width direction.

In this case, the plurality of first terrestrial transmitters transmit the second waves in different manners depending on whether they are provided at the first position or at the second position, and the guidance control unit determines the line of entry based on the two positions of the vehicle in the vicinity of each of the two times when the signal level of the second wave peaks differently. With such a configuration, it is possible to distinguish between the second wave transmitted from the first position and the second wave transmitted from the second position. Two peaks can be easily detected.

Also, in this case, when the plurality of first terrestrial transmitters are provided at a position opposite to the one first terrestrial receiver that first received the first wave, the one The number of bursts of the second wave to be transmitted is set larger than in the case where it is located on the same side as the first ground receiver. According to such a configuration, the transmission time of the second wave by the first terrestrial transmitter provided on the far side from the vehicle is the same as that of the first terrestrial transmitter provided on the closer side to the vehicle. Since it is longer than the transmission time of the second wave by the wave device, the second wave from the first terrestrial transmitter provided at a position farther from the vehicle can be more reliably received by the vehicle. .

Further, in the distance detection device described above, the predetermined area is a parking/stopping area in which the vehicle is parked, and the ground device is located near the boundary of the parking/stopping area and at one of the first position and the second position. Provided at a third position apart from at least one in the direction of entry of the vehicle into the parking/stopping area, at least the parking/stopping area responds to transmission of the second wave by the plurality of first ground transmitters. further comprising a second terrestrial transmitter for transmitting a third wave in a direction perpendicular to the direction of entry of the vehicle into the parking/stopping area and toward the inside of the parking/stopping area; Wave 3 is received, and the guidance control unit terminates the guidance control for parking and stopping the vehicle based on the change in the signal level of the third wave according to the position of the vehicle in the reception control by the reception control unit. determine the timing of According to such a configuration, it is possible to appropriately park and stop the vehicle in the parking/stopping area using the third wave.

In this case, the second terrestrial transmitter transmits the third wave in a manner different from the transmission of the second wave by the plurality of first terrestrial transmitters. With such a configuration, it is possible to distinguish between the second wave and the third wave, so that the peak of the signal level of the third wave can be easily detected.

Also, in this case, the second terrestrial transmitter transmits the third wave with a burst number greater than the burst number of the second wave. According to such a configuration, the third wave from the second terrestrial transmitter can be more reliably received by the vehicle.

In the vehicle guidance system described above, the on-board transmitter and the on-board receiver are integrally configured as a first transmitting/receiving section including a single first transducer that transmits/receives ultrasonic waves by vibration. and each combination of a plurality of terrestrial transmitters and a plurality of first terrestrial receivers is integrated as a second transmitting/receiving unit including a single second transducer that transmits/receives ultrasonic waves by vibration. is configured to With such a configuration, it is possible to simplify the configuration of the vehicle guidance system.

An on-vehicle device as another example of the present disclosure is an on-vehicle device provided in a vehicle, wherein the vehicle is driven to enter a predetermined area provided on the ground through an entrance provided in the predetermined area. A guidance control unit that executes guidance control for guidance, and when the guidance control unit executes guidance control, an on-board transmitter provided in the vehicle executes transmission control for transmitting a first wave to the outside of the vehicle. and a plurality of terrestrial transmitters provided at least one each at a first position and a second position corresponding to both ends of the entrance on the ground in the width direction, the vehicle is allowed to enter at least a predetermined area. A reception control unit that performs reception control for receiving a second wave transmitted in response to the first wave in a direction opposite to the direction by an on-board wave receiver provided in the vehicle, The guidance control unit determines an approach line to the entrance based on a change in the signal level of the second wave received in the reception control by the reception control unit according to the position of the vehicle.

According to the configuration described above, it is possible to cope with both ends of the entrance in the width direction by using the results of transmission and reception of the first wave and the second wave without using an image, for example, which is easily affected by the environment. Positions can be detected and appropriate lines of entry determined. Therefore, the vehicle can be accurately guided to the predetermined area regardless of the environment.

A ground device as still another example of the present disclosure is a ground device provided on the ground, and has a first position and a second position corresponding to both ends in the width direction of an entrance provided in a predetermined area provided on the ground. a plurality of ground wave receivers provided at least one position each for receiving a first wave transmitted from an on-board transmitter provided in the vehicle toward the outside of the vehicle; provided correspondingly to each other, and in response to reception of the first wave by at least one of the plurality of ground wave receivers, the second and a plurality of terrestrial transmitters for transmitting waves.

According to the configuration described above, it is possible to cope with both ends of the entrance in the width direction by using the results of transmission and reception of the first wave and the second wave without using an image, for example, which is easily affected by the environment. The position can be detected by the vehicle and the appropriate approach line can be determined by the vehicle. Therefore, the vehicle can be accurately guided to the predetermined area regardless of the environment.

FIG. 1 is an exemplary schematic diagram showing the configuration of a vehicle guidance system according to an embodiment. FIG. 2 is an exemplary and schematic block diagram showing configurations of an on-board device and a ground device according to the embodiment. FIG. 3 is an exemplary and schematic diagram for explaining transmission control executed by the on-board device according to the embodiment; FIG. 4 is an exemplary and schematic diagram for explaining reception control executed by the on-board device according to the embodiment. FIG. 5 is an exemplary schematic diagram for explaining reception control and guidance control executed by the on-board device according to the embodiment. FIG. 6 is an exemplary schematic diagram for further explaining reception control and guidance control executed by the on-board device according to the embodiment. FIG. 7 is an exemplary schematic diagram showing an example of received waves received by the vehicle in reception control according to the embodiment. FIG. 8 is an exemplary and schematic flow chart showing a sequence diagram of processes executed by the on-board device and the ground device according to the embodiment. FIG. 9 is an exemplary schematic diagram showing a setting example of signal levels of transmission waves from ground equipment according to the modification of the embodiment.

Hereinafter, embodiments of the present disclosure will be described based on the drawings. The configurations of the embodiments described below and the actions and results (effects) brought about by the configurations are merely examples, and are not limited to the following descriptions.

FIG. 1 is an exemplary schematic diagram showing the configuration of a vehicle guidance system according to an embodiment. As will be described below, the vehicle guidance system according to the embodiment controls the vehicle 1 to park and stop automatically (semi-automatically) in a parking/stopping area A provided on the ground as a predetermined area in which the vehicle 1 should park and stop. It is a system for inducing 1.

As shown in FIG. 1, the vehicle guidance system according to the embodiment includes an on-board device 100 provided on a vehicle 1 having a pair of front wheels 3F and a pair of rear wheels 3R, and a ground device provided on the ground. 200 and .

The on-vehicle device 100 is mounted inside the vehicle 1 as an ECU (electronic control unit), which is a microcomputer having hardware such as a processor, memory, and the like similar to a normal computer. Although the details will be described later, the on-board device 100 automatically (semi-automatically) moves the vehicle 1 along the route C shown in FIG. The vehicle 1 is stopped and parked in the parking and stopping area A by running.

In the example shown in FIG. 1, the object detection devices 110 include four object detection devices 111F, 112F, 113F, and 114F provided at the front end of the vehicle 1 and four object detection devices 111F, 112F, 113F, and 114F provided at the rear end of the vehicle 1. four object detection devices 111R, 112R, 113R and 114R provided at the left end of the vehicle 1, two object detection devices 111S and 112S provided at the left end of the vehicle 1, and two object detection devices 111S and 112S provided at the right end of the vehicle 1 and devices 113S and 114S. These object detection devices 110 transmit and receive ultrasonic waves to detect information about objects, including distances to objects that may exist around the vehicle 1 .

In the embodiment, the arrangement and number of object detection devices 110 are not limited to the example shown in FIG. 1, and can be set/changed as appropriate.

The ground device 200 is installed at the boundary B of the parking/stopping area A (see the rectangle indicated by the dashed line in FIG. 1). More specifically, the ground device 200 includes guidance devices 210 and 220 respectively provided at positions P1 and P2 on the boundary B of the parking/stopping area A, and wheel chocks provided at position P3 on the boundary B of the parking/stopping area A. a device 230;

Positions P1 and P2 are respectively the entrance X provided at the end of the boundary B of the parking/stopping area A on the side where the vehicle 1 enters (see the upper short side of the rectangle indicated by the dashed line in FIG. 1). A first position and a second position corresponding to the endpoints. The entrance X may be provided at a position other than the end of the parking area A. Further, the position P3 is in the direction of the vehicle 1 entering the parking/stopping area A (see the arrow at the end of the route C shown in FIG. 1) with respect to the position P1 in the boundary B of the parking/stopping area A. A third position a predetermined distance away. Although the details will be described later, the position P3 is set as a position facing the object detection device 112S of the vehicle 1 that has entered the parking/stopping area A (see FIG. 6).

In the example shown in FIG. 1, all of the positions P1 to P3 are on the boundary B of the parking/stopping area A. As shown in FIG. However, in the embodiment, the positions P1 to P3 may exist outside the boundary B of the parking/stopping area A as long as they are near the boundary B of the parking/stopping area A.

By the way, conventionally, an in-vehicle camera is used to obtain an image of the surroundings of the vehicle 1, and based on the obtained image, information for guiding the vehicle 1 to a predetermined area such as the parking/stopping area A is obtained. The technology to provide is known.

However, in general, the reliability of information contained in an image varies depending on the brightness of the environment in which the image was captured. When the vehicle 1 is guided by , the accuracy of the vehicle 1 guidance may vary depending on the environment.

Therefore, the vehicle guidance system according to the embodiment has functions (or hardware) as shown in FIG. By allowing the on-board device 100 and the ground device 200 to work together, it is possible to accurately guide the vehicle 1 regardless of the environment.

FIG. 2 is an exemplary and schematic block diagram showing configurations of the on-board device 100 and the ground device 200 according to the embodiment. As described above, in the embodiment, the guidance devices 210 and 220 and the chocking device 230 are provided as the ground device 200 .

First, the configuration of the on-board device 100 will be described.

As shown in FIG. 2 , the on-board device 100 includes a guidance control section 101 , a transmission control section 102 and a reception control section 103 . Some or all of these configurations may be functionally realized as a result of cooperation between hardware and software, more specifically as a result of reading and executing a computer program stored in memory by the processor of the ECU. Alternatively, it may be implemented in hardware using a dedicated circuit or the like.

The guidance control unit 101 realizes automatic driving (semi-automatic driving) of the vehicle 1 by controlling a driving control system that governs driving of the vehicle 1 . The travel control system includes, for example, a braking system 121 that controls braking of the vehicle 1 , an acceleration system 122 that controls acceleration of the vehicle 1 , a steering system 123 that controls steering of the vehicle 1 , and a shift control of the vehicle 1 . a transmission system 124; The guidance control unit 101 controls these systems to perform guidance control to guide the vehicle 1 to enter the parking/stopping area A as shown in FIG. Guidance control is started with a start operation by the driver as a trigger.

The transmission control unit 102 and the reception control unit 103 control transmission and transmission of transmission waves by the transmission/reception unit 110 a of the object detection device 110 . The transmitter/receiver 110a is provided in the object detection apparatus 110 as a device for transmitting and receiving ultrasonic waves. The transmitting/receiving unit 110a is an example of the "first transmitting/receiving unit".

Here, the transmitting/receiving section 110a has a single transducer 110b including a piezoelectric element or the like for transmitting and receiving ultrasonic waves by vibration. Therefore, the transmitting/receiving unit 110a has a configuration in which an on-vehicle transmitter for transmitting ultrasonic waves from the vehicle and an on-vehicle receiver for receiving the ultrasonic waves on the vehicle are integrally provided. I can say there is.

In the embodiment, the configuration in which the on-board transmitter and the on-board receiver are integrally provided as a single transmission/reception unit 110a is exemplified. It is also applicable to a configuration in which the device and the on-board wave receiver are provided as separate devices.

Next, respective configurations of the guidance devices 210 and 220 and the wheel chock device 230 as the ground device 200 will be described.

The guidance device 210 includes a transmission/reception section 211 , a control section 212 and a communication section 213 . Similarly, the guidance device 220 includes a transmission/reception unit 221, a control unit 222, and a communication unit 223, and the wheel chock device 230 includes a transmission/reception unit 231, a control unit 232, and a communication unit 233. I have. Each of the transmitting/receiving units 211, 221, and 231 is an example of a “second transmitting/receiving unit”.

Since the functions and operations of components having the same names are similar, the configuration of guidance device 210 as ground device 200 provided at position P1 shown in FIG. 1 will be described below as a representative.

The transmitting/receiving section 211 has a single transducer 211a including a piezoelectric element or the like that transmits and receives ultrasonic waves by vibration. Therefore, it can be said that the transmitting/receiving unit 211 has a configuration in which a terrestrial transmitter that transmits ultrasonic waves from the ground and a terrestrial receiver that receives ultrasonic waves on the ground are integrally provided. It goes without saying that the technique of the present disclosure can also be applied to a configuration in which a terrestrial transmitter and a terrestrial receiver are provided as separate devices.

Here, although the details will be described later, the signal levels of (the transducer 211a of) the transmission/reception unit 211 of the guidance device 210 and (the transducer 221a of) the transmission/reception unit 221 of the guidance device 220 peak in the same directions. Transmits a transmission wave that welcomes you. On the other hand, the transmitting/receiving section 231 (the transducer 231 a thereof) of the wheel chocking device 230 transmits a transmission wave whose signal level peaks in a direction different from that of the transmitting/receiving sections 211 and 221 . Therefore, in conceptual classification, the function of the terrestrial transmitter in the transmitting/receiving units 211 and 221 is an example of the "first terrestrial transmitter", and the function of the transmitting/receiving unit 231 as the terrestrial transmitter is It is an example of a "second terrestrial transmitter".

The control unit 212 controls the guidance device 210 . The control unit 212 controls transmission and reception of ultrasonic waves via the transmission/reception unit 211 and communication via the communication unit 223, for example.

The communication unit 213 is an interface that realizes communication with other ground devices 200 (the guiding device 220 and the chocking device 230). In order to avoid interference with transmission/reception of ultrasonic waves by the transmission/reception unit 211, the communication of the communication unit 213 is realized by transmission/reception of waves different from ultrasonic waves. For example, the communication of the communication unit 213 is realized by transmission and reception of electromagnetic waves based on Bluetooth (registered trademark), Wi-Fi (registered trademark), or the like.

In this way, in the embodiment, since the ground devices 200 are configured to be able to communicate with each other, for example, it is possible to realize control with one ground device 200 as a master and other ground devices 200 as slaves. .

Based on the above configuration, in the embodiment, guidance control as described below is realized by cooperation between the on-board device 100 and the ground device 200 .

First, in the embodiment, the transmission control unit 102 of the on-board device 100 transmits a transmission wave (first wave) to the outside of the vehicle 1 by the transmission/reception unit 110a when guidance control is performed by the guidance control unit 101. , performs transmission control as shown in FIG.

FIG. 3 is an exemplary and schematic diagram for explaining transmission control executed by the on-board device 100 according to the embodiment. As shown in FIG. 3, transmission control is performed, for example, when vehicle 1 is traveling along arrow A300 (at low speed, for example) so as to approach parking/stopping area A. As shown in FIG.

In transmission control, the transmission control unit 102 of the on-board device 100 transmits transmission waves (first waves) from all of the plurality of object detection devices 110 provided on the exterior of the vehicle 1 . As a result, transmission waves from at least one of the plurality of object detection devices 110 reach at least one of the plurality of ground devices 200 . For example, in the example shown in FIG. 3, the transmission wave from the object detection device 111S provided at the left end of the vehicle 1 reaches the guidance device 210 as the ground device 200 closest to the vehicle 1. FIG.

In the example shown in FIG. 3, the transmission wave from the object detection device 111S seems to have directivity only in one direction (see arrow A311), but the transmission wave from the object detection device 111S is , can actually be transmitted over a certain range. This also applies to transmission waves transmitted from the ground equipment 200 as described below.

When the guiding device 210 receives the transmission wave (first wave) as described above, the signal level increases in the direction (see arrow A321) opposite to the direction A350 of the vehicle 1 entering the parking/stopping area A. A transmission wave (second wave) reaching a peak is transmitted. At this time, the guiding device 210 transmits a predetermined notification (command) to the guiding device 220 and the wheel chocking device 230 as other ground devices 200 via the communication unit 213 so that the guiding device 220 and the chocking device 230 also transmits a predetermined transmission wave.

More specifically, in response to a predetermined notification (command) from the guidance device 210, the guidance device 220 changes the signal level in the direction opposite to the direction A350 of the vehicle 1 entering the parking/stopping area A (see arrow A322). A transmission wave (second wave) reaching a peak is transmitted. In addition, in response to a predetermined notification (command) from the guidance device 210, the wheel chock device 230 is orthogonal to the direction A350 of the vehicle 1 entering the parking/stopping area A and directed toward the inside of the parking/stopping area A ( A transmission wave (third wave) having a peak signal level is transmitted (see arrow A323).

Then, the reception control unit 103 of the on-board device 100 executes reception control for receiving transmission waves from the ground device 200 . At this time, the transmission control unit 102 (temporarily) stops transmission of transmission waves from the object detection device 110 provided on the side of the ground device 200 so as not to interfere with reception of transmission waves from the ground device 200. The object detection device 110 provided on the side of the ground device 200 may be set exclusively for reception.

For example, in the example shown in FIG. 3, if the transmission of the transmission waves from the object detection devices 111S and 112S provided on the side of the ground device 200 is stopped, the transmission/reception units 110a of the object detection devices 111S and 112S are dedicated to reception. Therefore, it becomes possible to receive the transmission wave from the ground equipment 200 more reliably. Such a stop of transmission waves can be triggered by, for example, a driver's operation to start guidance control.

In reception control, the reception level of the transmitted wave from ground equipment 200 changes according to the position of vehicle 1, for example, as shown in FIG.

FIG. 4 is an exemplary and schematic diagram for explaining reception control executed by the on-board device 100 according to the embodiment. As shown in FIG. 4 , guidance device 210 moves arrow A321 in the direction opposite to approach direction A350 of vehicle 1 to parking/stopping area A within the range indicated by dashed line R400 with position P1 as the starting point. A transmission wave is transmitted in an arbitrary direction with position P1 as a starting point, including the direction indicated by . Then, in the reception control, the on-board device 100 receives the transmitted wave from the guidance device 210 by the object detection device 111S that has entered the range indicated by the dashed line R400.

The signal level of the wave received by object detection device 111S as a transmission wave from guidance device 210 changes as vehicle 1 travels along arrow A300 and object detection device 111S and guidance device 210 approach each other. Getting stronger. When object detection device 111S and guidance device 210 are closest to each other, the signal level of this received wave is at position P400 on straight line L400 extending along arrow A321 with guidance device 210 as the starting point. It peaks when device 111S arrives.

That is, when the signal level of the received wave received by the object detection device 111S reaches a peak, it is assumed that the guidance device 210 exists outside the vehicle width direction of the vehicle 1 with respect to the position P400 of the object detection device 111S. can be done. Therefore, in the embodiment, the guidance control unit 101 of the on-board device 100 changes the signal level of the transmission wave from the guidance device 210 received by the object detection device 111S according to the position of the vehicle 1, more specifically, By detecting the signal level peak, the direction in which the guidance device 210 is present can be estimated.

In the following description, a situation in which it is assumed that the guidance device 210 (and 220) exists outside the position of the object detection device 111S in the vehicle width direction is assumed to be the position of the vehicle 1 when the guidance device 210 (and 220) corresponds to the position P1 (and P2) provided.

Thus, in the embodiment, the guidance control unit 101 of the on-board device 100 receives transmissions from the guidance devices 210 and 229 that are received in reception control by the reception control unit 103, as in the example shown in FIG. An approach line to the entrance X is determined based on the position of the vehicle 1 near the timing when the signal level of the wave (second wave) reaches its peak. The approach line is an expression indicating the position, direction, etc., that the vehicle 1 should take so as not to protrude from both ends of the entrance X when entering the entrance X in the guidance control.

FIG. 5 is an exemplary and schematic diagram for explaining reception control and guidance control executed by the on-board device 100 according to the embodiment. In the example shown in FIG. 5, the vehicle 1 further travels along the arrow A300 in the example shown in FIG. represent.

When the situation progresses from the example shown in FIG. 3 (and FIG. 4) to the example shown in FIG. , to receive the transmission wave from the guidance device 220 .

Here, as described above, the transmitted waves from guidance devices 210 and 220 both peak in the direction opposite to approach direction A350 of vehicle 1 into parking/stopping area A (see arrows A321 and A322). Based on this, in the reception control, the position of the vehicle 1 when the signal level of the received wave received by the object detection device 111S first peaks corresponds to the position P1 where the guidance device 210 is provided, and the object The position of vehicle 1 when the signal level of the received wave received by detection device 111S reaches its next peak corresponds to position P2 where guidance device 220 is provided.

In this way, the guidance control unit 101 of the on-board device 100 estimates the positions corresponding to both ends of the entrance X by specifying the positions of the vehicle 1 at the two timings when the signal level of the received wave reaches its peak. . Then, the guidance control unit 101, based on the estimation results of the positions corresponding to both ends of the entrance X, determines that the vehicle 1 does not protrude from both ends of the entrance X when entering the entrance X in the guidance control. The position and direction to be taken are determined as an approach line to the entrance X.

By the way, the above-described technique that considers the peak of the signal level of the received wave is used not only when the vehicle 1 enters the entrance X, but also when the vehicle 1 after entering is parked at a predetermined position within the parking area A. It can also be used when That is, the reception control and guidance control according to the embodiment can also be applied to situations such as the example shown in FIG. 6 below.

FIG. 6 is an exemplary schematic diagram for further explaining reception control and guidance control executed by the on-board device according to the embodiment. The example shown in FIG. 6 represents a situation in which the vehicle 1 enters from the entrance X along the approach direction A350 and enters the parking/stopping area A under guidance control.

As described above, in the embodiment, the wheel chock device 230 is provided at a position facing the object detection device 112S of the vehicle 1 that has entered the parking/stopping area A. As shown in FIG. Therefore, as shown in FIG. 6, when the vehicle 1 reaches the position corresponding to the position P3 of the wheel chock 230 within the parking/stopping area A, at that timing, the object provided at the left end of the vehicle 1 The reception level of the received wave (see arrow A323) received by the detecting device 112S from the wheel chocking device 230 reaches its peak. If the guidance control is terminated at this timing, the vehicle 1 can be appropriately parked and stopped within the parking/stopping area A so as not to protrude from the parking/stopping area A.

Therefore, in the embodiment, the reception control unit 103 of the on-board device 100 continues to perform reception control even after the vehicle enters the parking/stopping area A, and the guidance control unit 101 of the on-board device 100 controls the reception by the reception control unit 103. In the control, guidance control is ended so that the vehicle 1 is parked or stopped near the timing when the signal level of the transmission wave (third wave) from the wheel chock device 230 reaches its peak.

It should be noted that the transmission of the transmission wave by each on-ground device 200 described above continues for a predetermined period of time and then automatically ends.

By the way, in the technology according to the embodiment as described above, it is important to specify the timing at which the received wave received by the vehicle 1 reaches a peak in the reception control. Basically, there is no need to identify whether the transmitted wave was transmitted by the guiding device 220 or the chocking device 230 .

However, if the source of the received waves received by the vehicle 1 can be identified, it can be more reliably determined that the received waves peaking at different timings are transmitted from different ground equipment 200. It is useful because it can

Therefore, in the embodiment, guidance device 210, guidance device 220, and chocking device 230 receive the transmitted waves in different manners. More specifically, the guiding device 210, the guiding device 220, and the chocking device 230 each transmit transmission waves with different numbers of bursts. In general, the width of the peak of the received wave received by the vehicle 1 has a correlation with the number of bursts when it is transmitted from the ground device 200 as the transmitted wave. It becomes possible to distinguish the width of , and it is possible to realize the identification of the source of the received wave.

FIG. 7 is an exemplary and schematic diagram showing an example of received waves received by the vehicle 1 in reception control according to the embodiment. The example shown in FIG. 7 illustrates a received wave whose signal level peaks at timing tp and whose peak has a width Wp.

Here, when the number of bursts at the time of transmission increases, the transmission time increases, so the peak width Wp tends to increase. Based on this, in the example shown in FIG. Beneficial results can be obtained by setting the number of bursts of the transmission waves of the guiding device 220 provided at the position P2 farther from the vehicle 1 than the number of bursts.

That is, in the example shown in FIG. 3 and the like described above, the transmission wave from the guidance device 220 farther from the vehicle 1 is received at the vehicle 1 side than the transmission wave from the guidance device 210 closer to the vehicle 1. later. Therefore, in the embodiment, if the number of bursts of the transmission wave of the guidance device 220 is set larger than that of the guidance device 210 and the transmission time is lengthened, the transmission wave of the guidance device 220 can be received by the vehicle 1 more reliably. can be achieved with useful results.

Similarly, the transmission waves from the wheel chocking device 230 are received later than the transmission waves from the guidance devices 210 and 220 on the vehicle 1 side. Therefore, in embodiments, setting the number of bursts of transmitted waves of the chocking device 230 to be greater than the number of bursts of transmitted waves of the guidance devices 210 and 220 provides beneficial results.

In addition, the case where the burst number of the transmission wave of the guidance apparatus 220 is set larger than that of the guidance apparatus 210 was illustrated above. However, if the ground device 200 that first receives the transmission wave from the vehicle 1 is the guidance device 220, the relationship between the number of bursts to be set is opposite to the above. Such adjustment of the number of bursts may be appropriately performed by the ground device 200 that first receives the transmission wave from the vehicle 1 according to the situation.

Based on the above configuration, the on-board device 100 and the ground device 200 according to the embodiment cooperate according to the flow shown in FIG. 8 below.

FIG. 8 is an exemplary and schematic flow chart showing in a sequence diagram the processing executed by the on-board device 100 and the ground device 200 according to the embodiment.

As shown in FIG. 8, in the embodiment, first, in S701, the transmission control unit 102 of the on-vehicle device 100 starts transmission control for transmitting transmission waves as ultrasonic waves by the transmission/reception unit 110a of the object detection device 110. do. This transmission control is triggered by, for example, the speed of the vehicle 1 becoming equal to or less than a threshold.

Then, in S801, the controller 212, 222, or 223 of one of the ground devices 200 closest to the vehicle 1 causes the corresponding transmitter/receiver 211, 221, or 231 to A transmission wave from the vehicle 1 is received.

Then, the control unit 212, 222, or 223 of the ground equipment 200 that has executed the process of S801 includes the burst number of transmission waves to be transmitted by the transmission/reception units 211, 221, and 231 of all the ground equipment 200 in the next S802. Determine the mode of transmission. The transmission mode is determined differently for each of the transceivers 211 , 221 and 231 . The determined transmission mode is notified to other ground equipment 200 through communications executed by communication units 213 , 223 , and 233 .

Then, in S803, the controllers 212, 222, and 223 of the ground equipment 200 transmit transmission waves as ultrasonic waves using the corresponding transmitter/receivers 211, 221, and 223 in the transmission mode determined in S802.

Then, in S804, control units 212, 222, and 223 of ground device 200 determine whether or not a predetermined period of time has elapsed.

If it is determined in S804 that the predetermined time has not elapsed, the process returns to S803. On the other hand, if it is determined in S804 that the predetermined time has passed, the process ends.

Thus, in the embodiment, the ground device 200 transmits transmission waves for a predetermined period of time in response to reception of transmission waves from the on-board device 100, and then automatically terminates its operation.

By the way, when the transmission control starts in S701, the guidance control unit 101 of the on-board device 100 receives an operation for starting the guidance control by the driver.

Then, in S702, the guidance control unit 101 of the on-board device 100 determines whether or not an operation to start guidance control has been accepted.

If it is determined in S702 that the start operation has not been accepted, the process ends. On the other hand, if it is determined in S702 that the start operation has been accepted, the process proceeds to S703 in executing guidance control.

Then, in S703, the reception control unit 103 of the on-board device 100 starts reception control for receiving the transmission wave transmitted from the ground device 200 in S803. As described above, at this time, the transmission control using the transmitting/receiving unit 110a of the object detection device 110 provided on the ground device 200 may be stopped.

Then, in S704, the guidance control unit 101 of the on-board device 100 determines whether or not the transmission waves from the guidance devices 210 and 220 have been received in the reception control started in S703.

The process of S704 is repeated until it is determined that the transmission waves from guidance devices 210 and 220 have been received. If it is determined in S704 that the transmission waves from the guidance devices 210 and 220 have been received, the process proceeds to S705.

In S705, the guidance control unit 101 of the on-board device 100 detects peaks of waves transmitted from the guidance devices 210 and 220 received during reception control.

Then, in S706, the guidance control unit 101 of the on-vehicle device 100 determines the frontage of the parking area A based on the detection result in S705. More specifically, the guidance control unit 101 identifies the position of the vehicle 1 near (two) timings at which the transmission waves from the guidance devices 210 and 220 reach peaks, and determines the frontage of the parking area A. Positions corresponding to both ends of entrance X, which is information, are specified.

Then, in S707, the guidance control unit 101 of the on-vehicle device 100 determines that the vehicle 1 does not protrude from both ends of the entrance X when entering the entrance X in the guidance control based on the determined result in S706. The position and direction to be taken are determined as an approach line to the entrance X.

Then, in S708, the guidance control unit 101 of the on-vehicle device 100 controls the braking system 121, the acceleration system 122, and the steering system so that the vehicle 1 enters the entrance X along the entrance line determined in S707. Control of system 123 and part or all of transmission system 124 is initiated to initiate guidance control.

Then, in S709, the guidance control unit 101 of the on-board device 100 determines whether or not the transmission wave from the wheel chock device 230 has been received in the reception control started in S703.

The process of S709 is repeated until it is determined that the transmission wave from the wheel chocking device 230 has been received. If it is determined in S709 that the transmission wave from the wheel chocking device 230 has been received, the process proceeds to S710.

At S710, the guidance control unit 101 of the on-board device 100 detects the peak of the transmission wave from the wheel chocking device 230 received during reception control. More specifically, the guidance control unit 101 identifies the timing at which the transmission wave from the wheel chocking device 230 reaches its peak.

Then, in S711, the guidance control unit 101 of the on-vehicle device 100 performs guidance control so that the vehicle 1 parks and stops near the timing at which the transmission wave from the wheel chocking device 230 peaks, based on the detection result in S710. exit. As a result, the vehicle 1 is appropriately parked and stopped within the parking/stopping area A. Then the process ends.

As described above, the vehicle guidance system according to the embodiment includes the on-board device 100 provided on the vehicle 1 and the guidance devices 210 and 220 as the ground device 200 provided on the ground. The on-board device 100 includes a guidance control section 101 , a transmission control section 102 and a reception control section 103 . Guidance devices 210 and 220 respectively include transmitting/receiving units 211 and 221 that integrally function as ground wave receivers and ground wave transmitters.

The guidance control unit 101 guides the vehicle 1 to enter the parking/stopping area A, which is a predetermined area provided on the ground, from the entrance X located at the end of the parking/stopping area A. to run. Further, when the guidance control unit 101 executes the guidance control, the transmission control unit 102 transmits the first wave to the outside of the vehicle 1 by the transmission/reception unit 110a serving as an on-vehicle transmitter provided in the vehicle 1. Execute transmission control. The reception control unit 103 performs reception control for receiving the second wave corresponding to the first wave by the transmission/reception unit 110a as an on-board wave receiver provided in the vehicle 1 .

At least one transmitter/receiver 211 and 221 are provided at positions P1 and P2 corresponding to both ends of the entrance X in the width direction, and receive the first wave. Further, the transmitting/receiving units 211 and 221 transmit signals in the direction opposite to the direction in which the vehicle 1 enters the parking/stopping area A in response to reception of the first wave by at least one of the transmitting/receiving units 211 and 221. Send a second wave so that the level peaks.

Here, the guidance control unit 101 controls the approach to the entrance X based on the position of the vehicle 1 near the timing when the signal level of the second wave received in the reception control by the reception control unit 103 reaches its peak. determine the line.

According to the configuration as described above, it is possible to determine an appropriate approach line by using the results of transmission and reception of the first wave and the second wave without using, for example, an image that is easily affected by the environment. . Therefore, the vehicle 1 can be accurately guided to the parking/stopping area A without being influenced by the environment.

Further, in the embodiment, the transmitting/receiving units 211 and 221 transmit the second wave in different manners depending on whether they are provided at the position P1 or the position P2, and the guidance control unit 101 transmits the second wave The approach line is determined based on the two positions of the vehicle 1 near each of the two times when the wave signal level peaks differently. With such a configuration, it is possible to distinguish between the second wave transmitted from the position P1 and the second wave transmitted from the position P2. can be easily detected.

More specifically, in the embodiment, for example, as in the example shown in FIG. The transmitting/receiving unit 221 of the guidance device 210 sets the number of bursts of the second wave to be transmitted larger than that of the transmitting/receiving unit 211 of the guidance device 210 . According to such a configuration, the transmission time of the second wave by the transmitting/receiving unit 221 of the guidance device 220 provided farther from the vehicle 1 is longer than that of the guidance device 210 provided closer to the vehicle 1 . is longer than the transmission time of the second wave by the transmitting/receiving unit 211 of the vehicle 1, the vehicle 1 more reliably receives the second wave from the transmitting/receiving unit 221 of the guidance device 220 provided at a position farther from the vehicle 1. can be made

It should be noted that, as described above, in embodiments, the number of bursts of the second wave transmitted by guidance devices 210 and 220 may be determined based on communication between guidance devices 210 and 220 . Further, in the embodiment, the transmission timing of the second wave by the guidance device 210 and the transmission timing of the second wave by the guidance device 210 are based on communication between the guidance device 210 and the guidance device 220, for example, at the same time as each other. may be adjusted to be

In the embodiment, the ground device 200 is positioned near the boundary B of the parking/stopping area A and away from one of the positions P1 and P2 in the direction in which the vehicle 1 enters the parking/stopping area A. It includes a chocking device 230 located at P3. The transmission/reception unit 231 of the wheel chock device 230 is perpendicular to the direction in which the vehicle 1 enters the parking/stopping area A and is directed toward the inside of the parking/stopping area A in response to the transmission of the second wave by the guiding devices 210 and 220. A third wave is transmitted such that the signal level peaks in the direction. The reception control unit 103 receives the third wave in reception control, and the guidance control unit 101 receives the signal level of the third wave in the reception control by the reception control unit 103 near the timing when the vehicle 1 is parked. End the guidance control to stop the vehicle. According to such a configuration, the vehicle 1 can be appropriately parked and stopped within the parking/stopping area A using the third wave.

Also, in embodiments, the transceiver 231 of the chocking device 230 transmits the third wave in a manner different from the transmission of the second wave by the transceivers 211 and 221 of the guiding devices 210 and 220, respectively. With such a configuration, it is possible to distinguish between the second wave and the third wave, so that the peak of the signal level of the third wave can be easily detected.

More specifically, in an embodiment, the transceiver 231 of the chocking device 230 transmits the third wave with a burst number greater than the burst number of the second wave. According to such a configuration, it is possible to cause the vehicle 1 to more reliably receive the third wave from the transmitter/receiver 231 of the wheel chock device 230 .

<Modification>
In the above-described embodiment, the technology of the present disclosure is realized by transmitting and receiving ultrasonic waves, but the technology of the present disclosure can also be realized by transmitting and receiving waves other than ultrasonic waves, such as sound waves, millimeter waves, and electromagnetic waves. It is feasible.

In the above-described embodiment, a total of two guidance devices are provided as ground devices at positions corresponding to both ends of the entrance. A configuration in which a wheel chocking device as another ground device is provided at a position separated by a predetermined distance is exemplified. However, at least one guidance device may be provided at each position corresponding to both ends of the entrance, and the total number of guidance devices is not limited to two. Likewise, the number of chocking devices is not limited to one. Furthermore, at least one wheel chocking device may be provided at each of the two guidance devices at positions separated by a predetermined distance in the approach direction of the vehicle.

Furthermore, in the above-described embodiment, the signal level of the wave transmitted from the guidance device is set to peak in the direction opposite to the direction in which the vehicle enters the parking/stopping area, and the signal of the wave transmitted from the wheel chock device The level is set so that it is perpendicular to the direction in which the vehicle enters the parking/stopping area and reaches a directional peak toward the inside of the parking/stopping area. However, in the technique according to the present disclosure, the signal level of the transmission wave from the ground equipment is set in any manner as long as the vehicle can identify the position corresponding to the installation position of the ground equipment. may

For example, the technology according to the present disclosure also allows setting the signal level of the transmission wave from the ground equipment as shown in FIG. 9 below.

FIG. 9 is an exemplary schematic diagram showing a setting example of the signal level of the transmission wave from the ground equipment 200 according to the modification of the embodiment. More specifically, FIG. 9 shows an exemplary setting of the signal level of the transmission wave transmitted in the direction within the range R800 between the position P801 and the position P802 by the ground device 200 installed at the position P800. and is a schematic diagram.

In the example shown in FIG. 9, the solid line L801 is a setting example substantially similar to the embodiment described above. That is, solid line L801 has a signal level peak at a position corresponding to position P800, which is the installation position of ground device 200, and the signal level decreases from position P800 toward positions corresponding to positions P801 and P802 on both sides. An example of transmission wave setting is shown.

According to the transmission wave set like the solid line L801, by detecting the peak of the signal level, the position corresponding to the position P800, which is the installation position of the ground device 200, can be specified, and the same result as the above-described embodiment can be obtained. can be obtained.

On the other hand, in the example shown in FIG. 9, the solid line L802 indicates the signal level at the two positions corresponding to the installation positions of the ground equipment 200, namely between the positions P800 and P801 and between the positions P800 and P802. reaches a peak and the signal level decreases at positions corresponding to positions P800 to P802.

According to the transmission wave set like the solid line L802, the position corresponding to the position P800, which is the installation position of the ground device 200, can be specified by detecting the drop after the first peak of the signal level, for example. can be done. Therefore, even with the transmission wave set as indicated by the solid line L802, the same results as in the above embodiment can be obtained.

As described above, in the technique according to the present disclosure, regardless of how the signal level of the transmission wave from the ground equipment is set, if appropriate detection is performed, the same result as in the above-described embodiment can be obtained. Obtainable.

That is, in the technology according to the present disclosure, if the transmission wave from the guidance device is transmitted at least in the direction opposite to the direction in which the vehicle enters the parking/stopping area, the guidance control unit receives the transmission wave from the guidance device. The line of entry to the entrance can be appropriately determined based on the change in the signal level of the vehicle according to the position of the vehicle. Similarly, in the technology according to the present disclosure, if the transmission wave from the wheel chocking device is at least orthogonal to the direction in which the vehicle enters the parking/stopping area and is transmitted in the direction toward the inside of the parking/stopping area. , the guidance control unit can appropriately determine the end timing of the guidance control for stopping and parking the vehicle based on the change in the signal level of the wave transmitted from the wheel chocking device according to the position of the vehicle. .

Although the embodiments and modifications of the present disclosure have been described above, the embodiments and modifications described above are merely examples, and are not intended to limit the scope of the invention. The novel embodiments and modifications described above can be implemented in various forms, and various omissions, replacements, and modifications can be made without departing from the scope of the invention. The embodiments and modifications described above are included in the scope and gist of the invention, and are included in the scope of the invention described in the claims and equivalents thereof.

1 vehicle 100 on-board device 101 guidance control unit 102 transmission control unit 103 reception control unit 110a transmission/reception unit (on-board transmitter, on-board wave receiver, first transmission/reception unit)
110b oscillator (first oscillator)
200 ground device 210, 220 guidance device (ground device)
211, 221 transmitter/receiver (terrestrial receiver, first terrestrial transmitter, second transmitter/receiver)
211a, 221a vibrators (second vibrators)
230 Wheel chock device (ground device)
231 transmitter/receiver (second terrestrial transmitter)
A parking/stopping area (predetermined area)
B Boundary

Claims (9)

an on-board device provided on a vehicle;
a ground device provided on the ground;
with
The on-vehicle device
a guidance control unit that performs guidance control for guiding the vehicle so that the vehicle enters a predetermined area provided on the ground from an entrance provided in the predetermined area;
a transmission control unit that executes transmission control for transmitting a first wave to the outside of the vehicle by an on-board transmitter provided in the vehicle when the guidance control is performed by the guidance control unit;
a reception control unit that executes reception control for receiving a second wave corresponding to the first wave by an on-board wave receiver provided in the vehicle;
with
The ground equipment includes:
a plurality of ground wave receivers provided at least one each at a first position and a second position corresponding to both ends in the width direction of the entrance for receiving the first wave;
provided to correspond to each of the plurality of ground wave receivers, and in response to reception of the first wave by at least one of the plurality of ground wave receivers, the vehicle enters at least the predetermined area; a plurality of first terrestrial transmitters that transmit the second wave in a direction opposite to the direction of
with
The guidance control unit determines an approach line to the entrance based on a change in signal level of the second wave received in the reception control by the reception control unit according to the position of the vehicle. ,
The plurality of first terrestrial transmitters transmit the second wave so that the signal level peaks in the direction opposite to the direction in which the vehicle enters the predetermined area;
The guidance control unit determines an approach line to the entrance based on the position of the vehicle near the timing at which the signal level of the second wave received in the reception control by the reception control unit reaches a peak. do,
vehicle guidance system. The plurality of first terrestrial transmitters transmit the second waves in different manners depending on whether they are provided at the first position or at the second position,
The guidance control unit determines the approach line based on two positions of the vehicle near two timings when the signal level of the second wave peaks in different manners.
The vehicle guidance system according to claim 1 . When the plurality of first terrestrial transmitters are provided at a position opposite to the one first terrestrial receiver that first received the first wave, the one first terrestrial transmitter setting the number of bursts of the second wave to be transmitted to be larger than when provided at a position on the same side as the receiver;
The vehicle guidance system according to claim 2 . The predetermined area is a parking/stopping area in which the vehicle is parked and stopped,
The ground device is in the vicinity of the boundary of the parking/stopping area and is separated from at least one of the first position and the second position in the direction in which the vehicle enters the parking/stopping area. provided at a third position, perpendicular to at least the approach direction of the vehicle to the parking/stopping area, and the Further comprising a second terrestrial transmitter that transmits a third wave in a direction toward the inside of the parking/stopping area,
The reception control unit receives the third wave in the reception control,
The guidance control unit performs the guidance for parking and stopping of the vehicle based on a change in the signal level of the third wave received in the reception control by the reception control unit according to the position of the vehicle. determine the timing of the end of control,
A vehicle guidance system according to any one of claims 1 to 3 . The second terrestrial transmitter transmits the third wave in a manner different from the transmission of the second wave by the plurality of first terrestrial transmitters.
The vehicle guidance system according to claim 4 . The second terrestrial transmitter transmits the third wave with a burst number greater than the burst number of the second wave.
The vehicle guidance system according to claim 5 . The on-board wave transmitter and the on-vehicle wave receiver are integrally configured as a first transmitting/receiving unit including a single first transducer that transmits/receives ultrasonic waves by vibration,
Each combination of the plurality of first terrestrial transmitters and the plurality of terrestrial receivers is integrated as a second transmitting/receiving section including a single second transducer that transmits and receives ultrasonic waves by vibration. is structured
A vehicle guidance system according to any one of claims 1 to 6 . An on-board device provided in a vehicle,
a guidance control unit that performs guidance control to guide the vehicle so that the vehicle enters a predetermined area provided on the ground from an entrance provided in the predetermined area;
a transmission control unit that executes transmission control for transmitting a first wave to the outside of the vehicle by an on-board transmitter provided in the vehicle when the guidance control is performed by the guidance control unit;
from a plurality of terrestrial transmitters provided at least one each at a first position and a second position corresponding to both ends in the width direction of the entrance on the ground, at least in an approach direction of the vehicle to the predetermined area; a reception control unit that performs reception control for receiving a second wave transmitted in response to the first wave in the opposite direction by an on-board wave receiver provided in the vehicle;
with
The guidance control unit determines an approach line to the entrance based on a change in signal level of the second wave received in the reception control by the reception control unit according to the position of the vehicle. ,
The plurality of terrestrial transmitters transmit the second wave so that the signal level peaks in the direction opposite to the direction in which the vehicle enters the predetermined area;
The guidance control unit determines an approach line to the entrance based on the position of the vehicle near the timing at which the signal level of the second wave received in the reception control by the reception control unit reaches a peak. do,
on-board equipment. Ground equipment provided on the ground,
At least one on-board transmitter provided on the vehicle is provided at each of first and second positions corresponding to both ends in the width direction of the entrance provided in the predetermined area provided on the ground. a plurality of ground receivers for receiving a first wave transmitted out;
provided to correspond to each of the plurality of ground wave receivers, and in response to reception of the first wave by at least one of the plurality of ground wave receivers, the vehicle enters at least the predetermined area; a plurality of terrestrial transmitters transmitting a second wave in a direction opposite to the direction;
with
The plurality of terrestrial transmitters transmit the second wave such that the signal level peaks in the direction opposite to the direction in which the vehicle enters the predetermined area .

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